Flying device

ABSTRACT

A flying device includes a base, thrusters, an orientation detection unit, an abnormality detection unit, and an orientation control unit. The plurality of thrusters are provided on the base each including a propeller, a motor which drives the propeller, and a pitch change mechanism unit which changes a pitch of the propeller. The orientation detection unit detects an orientation of the base. The abnormality detection unit detects an abnormality in the thrusters. The orientation control unit, when the abnormality detection unit detects an abnormality in at least one of the thrusters, changes the pitches of the propellers in the remaining thrusters to maintain an orientation of the base detected by the orientation detection unit.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation application of InternationalPatent Application No. PCT/JP2017/026504 filed on Jul. 21, 2017, whichdesignated the United States and claims the benefit of priority fromJapanese Patent Application No. 2016-161946 filed on Aug. 22, 2016 andJapanese Patent Application No. 2017-120387 filed on Jun. 20, 2017.

TECHNICAL FIELD

The present disclosure relates to a flying device.

BACKGROUND

A flying device, such as a so-called drone, typically includes a drivemechanism that generates thrust, such as a plurality of thrusters.During operation, an abnormality may occur in the drive mechanism, and acorrection may be required to ensure stable flight continues.

SUMMARY

According to one aspect of the present disclosure, a flying device mayinclude a base, thrusters, an orientation detection unit, an abnormalitydetection unit, and an orientation control unit. The plurality ofthrusters are provided on the base each including a propeller, a motorwhich drives the propeller, and a pitch change mechanism unit whichchanges a pitch of the propeller. The orientation detection unit detectsan orientation of the base. The abnormality detection unit detects anabnormality in the thrusters. The orientation control unit, when theabnormality detection unit detects an abnormality in at least one of thethrusters, changes the pitches of the propellers in the remainingthrusters to maintain an orientation of the base detected by theorientation detection unit.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram showing a flying device according to afirst embodiment,

FIG. 2 is a schematic view of the flying device according to the firstembodiment as viewed from a direction of an arrow II in FIG. 1,

FIG. 3 is a schematic perspective view showing an example of a pitchchange mechanism unit of the flying device according to the firstembodiment,

FIG. 4 is a schematic cross-sectional view showing a propeller of theflying device according to the first embodiment,

FIG. 5 is a schematic cross-sectional view showing the propeller of theflying device according to the first embodiment,

FIG. 6 is a block diagram showing a configuration of the flying deviceaccording to the first embodiment,

FIG. 7 is a schematic diagram showing a flow of a flight control processin the flying device according to the first embodiment,

FIG. 8 is a schematic diagram showing a flow of a flight control processin a flying device according to a second embodiment,

FIG. 9 is a schematic diagram showing a flow of a flight control processin a flying device according to a third embodiment,

FIG. 10 is a schematic diagram showing a flow of a flight controlprocess in a flying device according to a fourth embodiment,

FIG. 11 is a schematic diagram showing a flying device according to afifth embodiment,

FIG. 12 is a schematic diagram showing a rotation mechanism of theflying device according to the fifth embodiment,

FIG. 13 is a schematic diagram showing the rotation mechanism of theflying device according to the fifth embodiment,

FIG. 14 is a schematic diagram showing the rotation mechanism of theflying device according to the fifth embodiment,

FIG. 15 is a schematic diagram showing a flow of a flight controlprocess in a flying device according to a sixth embodiment,

FIG. 16 is a schematic diagram showing a flying device according to aseventh embodiment,

FIG. 17 is a schematic diagram showing the flying device according tothe seventh embodiment, and

FIG. 18 is a schematic diagram showing a flying device according to aneighth embodiment.

DETAILED DESCRIPTION

Hereinafter, a plurality of embodiments of a flying device will bedescribed with reference to the drawings. In the plurality ofembodiments, substantially the same components are denoted by identicalreference numerals, and repetitive descriptions will be omitted.

First Embodiment

As shown in FIGS. 1 and 2, a flying device 10 includes a base 11, armportions 12, a thruster 13, a thruster 14, a thruster 15, and a thruster16. The base 11 is provided at a position of the center of gravity ofthe flying device 10. The arm portions 12 extend radially outward fromthe base 11. The thrusters 13 to 16 are provided at tips of therespective arm portions 12, that is, at the end portions of therespective arm portions 12 opposite to the base 11. The four armportions 12 extend symmetrically across the base 11. In other words, thearm portions 12 sandwiching the base 11 extend symmetrically in pairs onthe same straight line including the center of gravity of the base 11.In the present embodiment, an example in which the four thrusters 13 to16 are provided around the arm portions 12 will be described. The armportions 12 and the thrusters 13 to 16 are not limited to four, and anynumber of four or more may be set.

Each of the thrusters 13 to 16 includes a motor 21, a drive shaft member22, and a propeller 23. The motor 21 is a driving source for driving thepropeller 23, and uses, for example, a battery 24 accommodated in thebase 11 as a power source. The drive shaft member 22 transmits therotation of the motor 21 to the propeller 23. The propeller 23 extendsradially outward from the drive shaft member 22. The pair of thrusters13 and 15 provided symmetrically with respect to the base 11 have thesame rotation direction R1 of the propellers 23. The pair of thrusters14 and 16 have the same rotation direction R2 of the propellers 23. Therotation direction R1 of the propellers 23 in the thruster 13 and thethruster 15 and the rotation direction of the propeller 23 in thethruster 14 and the thruster 16 are set in opposite directions to eachother.

This is because when the propellers 23 of the multiple thrusters 13 to16 rotate in the same direction, a rotating force about a yaw axis isgenerated in the flying device 10 by a generated torque. The rotationdirection R1 of the propellers 23 in the thruster 13 and the thruster 15and the rotation direction R2 of the propellers 23 in the thruster 14and the thruster 16 are set in opposite directions, to thereby cancelthe rotating force about the yaw axis. As described above, the thruster13 and the thruster 15, and the thruster 14 and the thruster 16 are setto have the rotation directions of the propellers 23 opposite to eachother. The multiple thrusters 13 to 16 each have the pitch changemechanism unit 30.

An example of the pitch change mechanism unit 30 will be described withreference to FIG. 3. The pitch change mechanism unit 30 shown in FIG. 3is an example in which the pitch change mechanism unit 30 is provided inthe thruster 15, but the pitch change mechanism unit 30 is not limitedto this example as long as the pitch of the propellers 23 can be changedand the pitch change mechanism 30 can be applied to the thrusters 13 to16 of the flying device 10.

The pitch change mechanism unit 30 includes a servomotor 31, a levermember 32, a link member 33, and a changing member 34. The pitch changemechanism unit 30 changes the pitch of the propeller 23. The rotation ofthe servomotor 31 is transmitted to the propeller 23 through the levermember 32, the link member 33, and the changing member 34. At that time,the rotation of the servomotor 31 is converted into the rotation of thepropeller 23 about a propeller axis P perpendicular to the drive shaftmember 22 after passing through the lever member 32, the link member 33,and the changing member 34. In other words, when the servomotor 31rotates, the propeller 23 provided at a tip of the drive shaft member 22rotates about the propeller axis P.

As a result, the propeller 23 changes between a pitch angle θ1 forgenerating an upward thrust shown in FIG. 4 and a pitch angle θ2 forgenerating a downward thrust shown in FIG. 5. An intermediate positionbetween the pitch angle θ1 and the pitch angle θ2 of the propeller 23 isa neutral position at which no propulsive force is generated even whenthe propeller 23 rotates. When the pitch of the propeller 23 changesfrom the pitch angle θ2 toward the pitch angle θ1, the pitch of thepropeller 23 changes to a positive side where the propulsive force in anascending direction increases. On the other hand, when the pitch of thepropeller 23 changes from the pitch angle θ1 toward the pitch angle θ2,the pitch of the propeller 23 changes to a negative side where thepropulsive force in the ascending direction decreases. The amount ofchange in the pitch of the propeller 23 corresponds to a rotation angleof the servomotor 31.

As shown in FIG. 2, the flying device 10 includes a control unit 40. Thecontrol unit 40 is housed inside the base 11 and connected to thebattery 24. As shown in FIG. 6, the control unit 40 includes acalculation unit 41. The calculation unit 41 is a microcomputer having aCPU, a ROM, and a RAM, and controls the overall flying device 10. Thecalculation unit 41 executes a computer program stored in the ROM, tothereby implement the orientation detection unit 42, the abnormalitydetection unit 43, and the orientation control unit 44 as software. Theorientation detection unit 42, the abnormality detection unit 43, andthe orientation control unit 44 may be implemented by hardware or bycooperation of hardware and software.

The orientation detection unit 42 detects an orientation of the flyingdevice 10 based on an inclination of the base 11, an accelerationapplied to the base 11, and the like. Specifically, the orientationdetection unit 42 is connected to an acceleration sensor 45, an angularvelocity sensor 46, a geomagnetic sensor 47, and an altitude sensor 48.

The acceleration sensor 45 detects accelerations in three axialdirections of an x-axis, a y-axis, and a z-axis. The angular velocitysensor 46 detects angular velocities in three axial directions in threedimensions. The geomagnetic sensor 47 detects a geomagnetism in threeaxial directions in three dimensions. The altitude sensor 48 detects analtitude in one axial direction in the vertical direction according to,for example, a change in the atmospheric pressure. The orientationdetection unit 42 detects a flight orientation and a flight altitude ofthe flying device 10 according to an acceleration detected by theacceleration sensor 45, an angular velocity detected by the angularvelocity sensor 46, a geomagnetism detected by the geomagnetic sensor47, and an altitude detected by the altitude sensor 48.

The abnormality detection unit 43 detects abnormalities in the thrusters13 to 16. Specifically, the abnormality detection unit 43 detectsabnormality of the motors 21 and the propellers 23 of the thrusters 13to 16. The abnormality detection unit 43 may detect, for example, acurrent supplied to the motor 21 of each of the thrusters 13 to 16, therotational speed of the motor 21, a temperature of the motors 21, or thelike.

The abnormality detection unit 43 determines whether or not the detectedvalue is within a normal range based on the detected values of the motor21. The abnormality detection unit 43 determines that the motors 21 orthe propellers 23 of the thrusters 13 to 16 has an abnormality when thecurrent, the rotational speed, the temperature, or the like of the motor21 corresponding to the command value is not within a preset range.

Furthermore, the abnormality detection unit 43 may detect theabnormality of the thrusters 13 to 16 based on an abrupt change in theflight orientation of the flying device 10 detected by the orientationdetection unit 42, in addition to the current, the rotational speed, thetemperature or the like of the motor 21. The abnormality detection unit43 may detect an abnormality of the thrusters 13 to 16 by acquiring achange in the flight orientation of the flying device 10 from an imagecaptured by a camera (not shown) mounted on the flying device 10, forexample. Further, the abnormality detection unit 43 may acquire a changein the flight orientation of the flying device 10 from a device or animage for monitoring the flight of the flying device 10 outside theflying device 10 to detect abnormality in the thrusters 13 to 16.

The orientation control unit 44 controls the thrusters 13 to 16 based onthe orientation of the flying device 10 detected by the orientationdetection unit 42. In other words, the orientation control unit 44controls the rotational speed of the motor 21 in the thrusters 13 to 16and the current supplied to the motor 21 to control the output of themotor 21. The orientation control unit 44 is connected to the pitchchange mechanism units 30 of the thrusters 13 to 16. As a result, theorientation control unit 44 drives the servomotor 31 of the pitch changemechanism unit 30 to change the pitch of the propeller 23.

When the abnormality detection unit 43 detects an abnormality in any ofthe four thrusters 13 to 16, the orientation control unit 44 changes thepitch of the propellers 23 in the remaining thrusters 13 to 16.Specifically, it is assumed that an abnormality has occurred in onethruster 13 of the four thrusters 13 to 16. At that time, the thruster13 in which the abnormality has occurred is defined as an abnormalthruster. The flying device 10 includes the thruster 15 at a positionsymmetrical to the thruster 13, which is an abnormal thruster, acrossthe base 11. The thruster 15 at the symmetrical position is defined as asymmetrical thruster. When an abnormality is detected in the thruster13, which is an abnormal thruster, the orientation control unit 44changes the pitch of the propeller 23 in the thruster 15, which is thesymmetrical thruster.

A relationship between the thruster 13 in which the abnormality hasoccurred and the thruster 15 in the symmetrical position does not haveto be strictly symmetrical across the base 11. For example, in the caseof the flying device 10 having five arm portions 12, there is nothruster at a position symmetrical to the thruster 13 in which theabnormality has occurred. In such a case, the thruster substantiallysymmetrical, i.e., closest to the position symmetrical to the thruster13 in which the abnormality has occurred across the base 11 can bedefined as the symmetrical thruster. Similarly, in the case of theflying device 10 having many arm portions 12, such as eight arm portionsor ten arm portions, a thruster adjacent to a thruster in thesymmetrical position, rather than the thruster in a position strictlysymmetrical to the thruster 13 in which the abnormality has occurred, isalso substantially symmetrical and therefore may also be defined as asymmetrical thruster.

The orientation control unit 44 changes at least the pitch of thepropeller 23 in the thruster 15, which is the symmetrical thruster inthe position symmetrical to the thruster 13, which is the abnormalthruster, in this manner. The orientation control unit 44 also controlsthe output of the motor 21 in the thruster 15 which is the symmetricalthruster. Further, the orientation control unit 44 controls the pitch ofthe propellers 23 and the output of the motors 21 in not only thethruster 15, which is the symmetrical thruster, but also the remainingnormal thrusters 14 and 16.

Hereinafter, a flow of control of the flying device 10 will be describedwith reference to FIG. 7. In the example described in the followingembodiment, it is assumed that the thruster 13 shown in FIG. 1 is theabnormal thruster, and the thruster 15 is the symmetrical thruster.

In Step S101, when the flying device 10 is in flight, the abnormalitydetection unit 43 detects whether or not the thrusters 13 to 16 areabnormal (S101). In other words, the abnormality detection unit 43detects whether or not an abnormality has occurred in any of the fourthrusters 13 to 16. The abnormality detection unit 43 detects theabnormality of the thrusters 13 to 16 based on, for example, thecurrents supplied to the motors 21 of the four thrusters 13 to 16, therotational speeds of the motors 21, the temperatures of the motors 21,and the like.

When the abnormality of the thruster 13 is detected by the abnormalitydetection unit 43 in S101 (YES in S101), the orientation control unit 44determines whether or not the flying device 10 is ascending ormaintaining the altitude, that is, hovering (S102). In other words, theorientation control unit 44 determines whether or not the flying device10 is ascending while increasing the altitude, or is hovering whilemaintaining the altitude of the flying device 10.

When the abnormality of the thrusters 13 to 16 is not detected by theabnormality detection unit 43 in S101 (NO in S101), the orientationcontrol unit 44 continues the detection of the abnormality in S101 untilthe flight of the flying device 10 is completed.

When it is determined that the flying device 10 is ascending or hoveringin S102 (YES in S102), the orientation control unit 44 stops the motor21 of the thruster 13 which is the abnormal thruster (S103). In StepS104, the orientation control unit 44 changes the pitch of the propeller23 in the thruster 15, which is the symmetrical thruster located at aposition symmetrical to the thruster 13, to the negative side (S104). Inother words, the orientation control unit 44 changes the pitch of thepropeller 23 in the thruster 15, which is the symmetrical thruster, tothe negative side where the propulsive force in an ascending directiondecreases.

As described above, when an abnormality is detected by the thruster 13during ascending or hovering, the orientation control unit 44 changesthe pitch of the propeller 23 in the thruster 15 at the positionsymmetrical to the thruster 13 to the negative side. As a result, thepropulsive force generated by the thruster 15, which is the symmetricalthruster, is adjusted by changing the pitch of the propeller 23.

When an abnormality occurs in any of the multiple thrusters 13 to 16 ofthe flying device 10, the thruster 13 in which the abnormality occursstops. For that reason, in the flying device 10, the propulsive forcegenerated by the thrusters 13 to 16 is unbalanced, which causes a suddenchange in the flight orientation. In order to reduce the sudden changein the flight orientation, when the thruster 15 at the positionsymmetrical to the stopped thruster 13 is stopped, the total propulsiveforce of the flying device 10 generated by the remaining thrusters 14and 16 is insufficient. This may make it difficult for the flying device10 to continue the flight.

In the first embodiment, when the abnormality occurs in the thruster 13,the orientation control unit 44 changes the pitch of the propeller 23 ofthe thruster 15 in the symmetrical position. As a result, the propulsiveforce generated by the thruster 15 changes, and the sudden change in theflight orientation of the flying device 10 is avoided. At the same time,the operation of the thruster 15 is maintained, to thereby avoid thegeneration of excessive propulsive force by the thruster 15 whilesecuring the propulsive force necessary for continuing the flight. As aresult, the flying device 10 continues flight while maintaining a stableflight orientation.

When the pitch of the propeller 23 of the thruster 15 is changed inS104, the orientation control unit 44 performs landing of the flyingdevice 10 while maintaining the flight orientation (S105). In otherwords, the orientation control unit 44 controls the output of the motors21 and the pitch of the propellers 23 in the remaining normal thrusters14 and 16 in addition to the thruster 15 which is the symmetricalthruster. The orientation control unit 44 controls the outputs of themotors 21 and the pitch of the propellers 23 in the three thrusters 14,15, and 16, which operate normally.

As a result, the orientation control unit 44 lowers the flying device 10while balancing the propulsive forces generated by the three thrusters14, 15, and 16 that operate normally. In other words, the orientationcontrol unit 44 changes the pitch of the propeller 23 and the output ofthe motor 21 in the thruster 15 at a position symmetrical to theabnormal thruster 13, thereby balancing the propulsive force incooperation with the other two thrusters 14 and 16, lowering thealtitude of the flying device 10 in a stable orientation, and performinglanding.

On the other hand, when it is determined that the flying device 10 isnot ascending or hovering in S102 (NO in S102), the orientation controlunit 44 stops the motor 21 of the thruster 13 which is the abnormalthruster (S106). The orientation control unit 44 changes the pitch ofthe propeller 23 in the thruster 15 at the position symmetrical to thethruster 13 to the positive side (S107). When it is determined in S102that the flying device 10 is not ascending or hovering, the flyingdevice 10 is descending. For that reason, the normal thrusters 14 to 16generate a propulsive force to the extent that the flying device 10stably descends.

Therefore, the orientation control unit 44 changes the pitch of thepropeller 23 in the thruster 15, which is the symmetrical thruster, tothe positive side, thereby avoiding a sudden fall of the flying device10 or a change in the orientation due to the stop of the thruster 13. Asdescribed above, when an abnormality is detected in any of the thrusters13 to 16 during descent, the orientation control unit 44 changes thepitch of the propeller 23 in the thruster 15 at a position symmetricalto the thruster 13 to the positive side. As a result, the propulsiveforce generated by the thruster 15, which is the symmetrical thruster,is adjusted by changing the pitch of the propeller 23.

When the pitch of the propeller 23 of the thruster 15 is changed in StepS107, the orientation control unit 44 performs landing of the flyingdevice 10 while maintaining the flight orientation (Step S108). That is,in addition to the thruster 15, the orientation control unit 44 controlsthe output of the motors 21 and the pitch of the propellers 23 in theremaining normal thrusters 14 and 16. The orientation control unit 44controls the outputs of the motors 21 and the pitch of the propellers 23in the three thrusters 14, 15, and 16, which operate normally.

As a result, the orientation control unit 44 continues to descend theflying device 10 while balancing the propulsive forces generated by thethree thrusters 14, 15, and 16 that operate normally. In other words,the orientation control unit 44 changes the pitch of the propeller 23and the output of the motor 21 in the thruster 15 at a positionsymmetrical to the abnormal thruster 13, thereby balancing thepropulsive force in cooperation with the other two thrusters 14 and 16,and executing the lowering of the altitude of the flying device 10 whilemaintaining the stable orientation.

As described above, in the first embodiment, the pitch of the propellers23 of the thrusters 13 to 16 is changed by the pitch change mechanismunit 30. When an abnormality is detected in the thruster 13 among theplurality of thrusters 13 to 16, the orientation control unit 44 changesthe pitch of the propeller 23 in the remaining normal thrusters 14 to16. In other words, the orientation control unit 44 changes the pitch ofthe propeller 23 without stopping the normal thrusters 14 to 16.

As a result, the normal thrusters 14 to 16 whose pitch has been changedchange the propulsive force to be generated. As a result, the normalthrusters 14 to 16 secure the propulsive force necessary for continuingthe flight, and the orientation change due to the torque imbalance isreduced. Therefore, even if an abnormality occurs in any of the multiplethrusters 13 to 16, stable flight can be continued without stopping theother thrusters.

In the first embodiment, the pitch of the propeller 23 in the thruster15 at a position symmetrical to the thruster 13 in which the abnormalityhas occurred is changed. If both of the thruster 13 in which theabnormality has occurred and the thruster 15 which is positionallysymmetrical to the thruster 13 are stopped for the purpose ofstabilizing the orientation of the flying device 10, the overallpropulsive force of the flying device 10 may be insufficient, andcontinuous flight may be difficult.

Therefore, the pitch of the propeller 23 of the thruster 15 is changedas in the first embodiment, being capable of leveraging the propulsiveforce generated by the thruster 15. At that time, the pitch of thepropeller 23 in the thruster 15 is changed, to thereby reduce a changein the orientation of the flying device 10 by changing the pitch of thepropeller 23 while leveraging the propulsive force generated by thethruster 15. Therefore, the flight can be continued while maintaining astable orientation, and the movement and landing of the flying device 10to a safe area can be performed.

In the first embodiment, the orientation control unit 44 changes notonly the pitch of the propeller 23 in the thruster 15 at the symmetricalposition, but also the output of the motor 21 that drives the propeller23. As a result, a change in the orientation of the flying device 10 dueto a stoppage of the thruster 13 in which the abnormality has occurredis also reduced by a change in the output of the motor 21 that drivesthe propeller 23 of the thruster 15. Therefore, a more stableorientation can be maintained.

In the first embodiment, the orientation control unit 44 increases theoutput of the motors 21 that drive the propellers 23 not only in thethruster 13 in which the abnormality has occurred and the thruster 15 inthe symmetrical position but also in the remaining thrusters 14 and 16.As a result, the propulsive force reduced by the stoppage of theabnormal thruster 13 and the change in the pitch of the propeller 23 inthe thruster 15 at the symmetrical position is compensated by anincrease in the propulsive force of the remaining thrusters 14 and 16.

Therefore, the flight can be continued while maintaining a stableorientation, and the movement and landing of the flying device 10 to asafe area can be performed. In that case, the pitch of the propellers 23in the thruster 14 and the thruster 16 may be changed. With a change inthe pitch of the propellers 23 in the thruster 14 and the thruster 16,the propulsive forces generated by the normal three thrusters 14, 15 and16 are adjusted more precisely. Therefore, the flight can be continuedwith a more stable flight orientation.

Second Embodiment

FIG. 8 shows a flow of processing of a flying device according to asecond embodiment.

A configuration of a flying device 10 according to the second embodimentis the same as that of the first embodiment shown in FIG. 1. In thesecond embodiment, the flow of the control process of the flying device10 by the control unit 40 is different from that in the firstembodiment. Therefore, in the following description, a description ofprocessing common to the first embodiment will be omitted.

When the flying device 10 is in flight, an abnormality detection unit 43detects whether or not thrusters 13 to 16 are abnormal (S201). When theabnormality of the thruster 13 is detected by the abnormality detectionunit 43 in S201 (YES in S201), the orientation control unit 44determines whether or not the flying device 10 is ascending or hovering(S202). When the abnormality of the thrusters 13 to 16 is not detectedby the abnormality detection unit 43 in S201 (NO in S201), theorientation control unit 44 continues the detection of the abnormalityin S201 until the flight of the flying device 10 is completed.

When it is determined that the flying device 10 is ascending or hoveringin S202 (YES in S202), the orientation control unit 44 stops a motor 21of the thruster 13 which is an abnormal thruster (S203). The orientationcontrol unit 44 changes a pitch of the propeller 23 in the thruster 15at the position symmetrical to the thruster 13 to a negative side(S204). The orientation control unit 44 changes a thrust of the thruster15 to Nh/Nl times (S205). In other words, the orientation control unit44 increases the output of the motor 21 of the thruster 15 at a positionsymmetrical to the thruster 13, and changes the pitch of the propeller23.

As a result, the orientation control unit 44 changes the thrustgenerated by the thruster 15 to Nh/Nl times. In this example, Nh is thenumber of normal thrusters having the propellers 23 rotating in arotation direction R2 which is an opposite direction to a rotationdirection R1 of the propeller 23 of the thruster 13 which is theabnormal thruster. Nl is the number of normal thrusters having thepropellers 23 rotating in the rotation direction R1 which is the samedirection as the rotation direction R1 of the propeller of the thruster13 which is the abnormal thruster. In other words, in the case of thesecond embodiment, the thruster 13, which is the abnormal thruster, andthe thruster 15, which is a symmetrical thruster, have the same rotationdirection R1 of the propellers 23. On the other hand, in the remainingthrusters 14 and 16, the rotation direction R2 of the propeller 23 isopposite to the direction of the thrusters 13 and 15. As a result, whenan abnormality occurs in the thruster 13, Nh becomes “2” which is thenumber of the thrusters 14 and 16 except for the thruster 15 which isthe symmetrical thruster. On the other hand, Nl is “1” because thethruster 15, which is the symmetrical thruster, corresponds to Nl.Therefore, the orientation control unit 44 increases the output of themotor 21 in the thruster 15 which is the symmetrical thruster whilechanging the pitch of the propeller 23, and changes the thrust of thethruster 15 to Nh/Nl=2/1=2. In other words, the thrust of the thruster15 is controlled to be twice the thrust generated by the thruster 14 andthe thruster 16. Naturally, the value of Nh/Nl varies depending on thenumber of thrusters included in the flying device 10.

As described above, when an abnormality is detected in any of thethrusters 13 to 16 during ascending or hovering, the orientation controlunit 44 changes the pitch of the propeller 23 in the thruster 15 at theposition symmetrical to the abnormal thruster 13 to the negative side.Further, the orientation control unit 44 changes the thrust of thethruster 15 to Nh/Nl=2 times. As a result, the propulsive force, thatis, the thrust generated by the thruster 15, which is the symmetricalthruster, is adjusted by changing the pitch of the propeller 23 andchanging the output of the motor 21.

When the pitch of the propeller 23 of the thruster 15 is changed in S204and the output of the motor 21 of the thruster 15 is changed in S205,the orientation control unit 44 performs landing of the flying device 10while maintaining the flight orientation (S206). In other words, theorientation control unit 44 changes the pitch of the propeller 23 andthe output of the motor 21 in the thruster 15 at the positionsymmetrical to the abnormal thruster 13, balances the propulsive forcein cooperation with the other two thrusters 14 and 16, lowers analtitude of the flying device 10 in a stable orientation, and performslanding.

On the other hand, when it is determined that the flying device 10 isnot ascending or hovering in S202 (NO in S202), the orientation controlunit 44 stops the motor 21 of the thruster 13 which is the abnormalthruster (S207). The orientation control unit 44 changes the pitch ofthe propeller 23 in the thruster 15 at the position symmetrical to thethruster 13 to a positive side (S208). In other words, when it isdetermined in S202 that the flying device 10 is not ascending orhovering, the flying device 10 is descending. Therefore, the orientationcontrol unit 44 changes the pitch of the propeller 23 in the thruster 15to the positive side. The orientation control unit 44 changes the thrustgenerated by the thruster 15 to Nh/Nl times (S209). In other words, inthe case of the second embodiment, the orientation control unit 44changes the thrust of the thruster 15 to Nh/Nl=2 times. In other words,the orientation control unit 44 increases the output of the motor 21 ofthe thruster 15.

Upon changing the pitch of the propeller 23 of the thruster 15 in S208and changing the output of the motor 21 of the thruster 15 in S209, theorientation control unit 44 performs landing of the flying device 10while maintaining the flight orientation (S210). In other words, theorientation control unit 44 changes the pitch of the propeller 23 andthe output of the motor 21 in the thruster 15 at the positionsymmetrical to the abnormal thruster 13, balances the propulsive forcein cooperation with the other two thrusters 14 and 16, lowers analtitude of the flying device 10 in a stable orientation, and performslanding.

In the second embodiment described above, the orientation control unit44 changes not only the pitch of the propeller 23 but also the output ofthe motor 21 in the thruster 15 at the position symmetrical to thethruster 13 at which the abnormality has occurred. As a result, theorientation control unit 44 changes the thrust generated by the thruster15. For that reason, the propulsive force reduced by the stoppage of thethruster 13 in which the abnormality has occurred is compensated byincreasing the output of the motor 21 in the thruster 15 rotating in thesame rotation direction R1 as that of the propeller 23 of the thruster13. Therefore, the flight can be continued while maintaining a stableorientation, and the movement and landing of the flying device 10 to asafe area can be performed.

Third Embodiment

FIG. 9 shows a flow of processing of a flying device according to athird embodiment.

A configuration of a flying device 10 according to the third embodimentis the same as that of the first embodiment, similarly to the secondembodiment.

When the flying device 10 is in flight, an abnormality detection unit 43detects whether or not thrusters 13 to 16 are abnormal (S301). When theabnormality of the thruster 13 is detected by the abnormality detectionunit 43 in S301 (YES in S301), an orientation control unit 44 changesthe flying device 10 to a “head free mode” (S302). The “head free mode”is also referred to as a “head lock mode” or a “headless mode”. Theflying device 10 shifts to the “head free mode” to fix the front, rear,left, and right at the time of the shift. In other words, since theflying device 10 is rotatable in a yaw axis direction, the front, rear,left, and right are not fixed in a normal state. Therefore, with achange in the flying device 10 to the “head free mode”, the front, rear,left, and right of the flying device 10 during flight are fixed to thefront, rear, left, and right at the time of the change in S302. When theabnormality of the thrusters 13 to 16 is not detected by the abnormalitydetection unit 43 in S301 (NO in S301), the orientation control unit 44continues the detection of the abnormality in S301 until the flight ofthe flying device 10 is completed.

After changing to the head free mode in S302, the orientation controlunit 44 executes the same processing as that of the first embodimentshown in FIG. 7. In other words, the orientation control unit 44determines whether or not the flying device 10 is ascending or hovering(S303). The orientation control unit 44 stops the motor 21 of thethruster 13 (S304) when it is determined that the flying device 10 isascending or hovering in S303 (YES in S303). Then, the orientationcontrol unit 44 changes a pitch of a propeller 23 in the thruster 15 ata position symmetrical to the thruster 13 to a negative side (S305).When the pitch of the propeller 23 of the thruster 15 is changed in StepS305, the orientation control unit 44 performs landing of the flyingdevice 10 while maintaining a flight orientation (S306).

On the other hand, when it is determined that the flying device 10 isnot ascending or hovering in S303 (NO in S303), the orientation controlunit 44 stops the motor 21 of the thruster 13 (S307). The orientationcontrol unit 44 changes the pitch of the propeller 23 in the thruster 15to a positive side (S308). When the pitch of the propeller 23 of thethruster 15 is changed in Step S308, the orientation control unit 44performs landing of the flying device 10 while maintaining the flightorientation (S309).

According to the third embodiment, when an abnormality is detected inany of the thrusters 13 to 16, the orientation control unit 44 changesthe flying device 10 to the head free mode. As a result, the front,rear, left, and right of the flying device 10 are fixed to the front,rear, left, and right at the time of changing to the head free mode.Therefore, the front, rear, left, and right can be kept constantregardless of the rotation direction of the flying device 10, and thecontinuation of the flight to a safe zone and the landing can be stablyperformed.

The process of changing to the head free mode in the third embodimentmay be inserted between S201 and S203 in the second embodiment shown inFIG. 8.

Fourth Embodiment

FIG. 10 shows a flow of processing of a flying device according to afourth embodiment.

A configuration of a flying device 10 according to the fourth embodimentis the same as that of the first embodiment similarly to the multipleembodiments described above.

When the flying device 10 is in flight, an abnormality detection unit 43detects whether or not thrusters 13 to 16 are abnormal (S401). Anorientation control unit 44 determines whether or not the flying device10 is ascending or hovering (S402). The orientation control unit 44stops a motor 21 of the thruster 13 (S403) when it is determined thatthe flying device 10 is ascending or hovering in S402 (YES in S402). Theorientation control unit 44 changes a pitch of a propeller 23 in thethruster 15 at a position symmetrical to the thruster 13 to a negativeside (S404).

When the pitch of the propeller 23 of the thruster 15 is changed in StepS404, the orientation control unit 44 increases the output of the motors21 in the thruster 14 and the thruster 16 except for the thruster 13 andthe thruster 15 (S405). In other words, according to the fourthembodiment, the output of the motor 21 in the thruster 14 and thethruster 16 is increased except for the thruster 13 in which the errorhas occurred and the thruster 15 at a position symmetrical to thethruster 13. As a result, a sudden change in an altitude of the flyingdevice 10, particularly a sudden descent of the flying device 10, due toa stoppage of the thruster 13 in which the abnormality has occurred isavoided. The orientation control unit 44 increases the output of themotors 21 in the thruster 14 and the thruster 16 in Step S405, and thenperforms landing of the flying device 10 while maintaining a flightorientation (S406).

On the other hand, when it is determined that the flying device 10 isnot ascending or hovering in S403 (NO in S403), the orientation controlunit 44 stops the motor 21 of the thruster 13 (S407). The orientationcontrol unit 44 changes the pitch of the propeller 23 in the thruster 15at the position symmetrical to the thruster 13 to a positive side(S408).

When the pitch of the propeller 23 of the thruster 15 is changed inS408, the orientation control unit 44 increases the output of the motors21 in the thruster 14 and the thruster 16 except for the thruster 13 andthe thruster 15 (S409). In other words, according to the fourthembodiment, the output of the motor 21 in the thruster 14 and thethruster 16 is increased except for the thruster 13 in which the errorhas occurred and the thruster 15 at a position symmetrical to thethruster 13. As a result, a sudden change in an altitude of the flyingdevice 10, particularly a sudden descent of the flying device 10, due toa stoppage of the thruster 13 in which the abnormality has occurred isavoided. The orientation control unit 44 increases the output of themotors 21 in the thruster 14 and the thruster 16 in Step S409, and thenperforms landing of the flying device 10 while maintaining the flightorientation (S410).

According to the fourth embodiment, after stopping the thruster 13 inwhich the abnormality has occurred, the orientation control unit 44increases the output of the motors 21 in the thruster 14 and thethruster 16 except for the thruster 15 which is the symmetricalthruster. As a result, a sudden change in an altitude of the flyingdevice 10, particularly a sudden descent, caused by a decrease in apropulsive force due to a stoppage of the thruster 13 in which theabnormality has occurred is reduced. Therefore, safety can be furtherenhanced.

The process of increasing the output of the motors 21 in the thruster 14and the thruster 16 according to the fourth embodiment may be insertedbetween S205 and S206 and between S209 and S210 in the second embodimentshown in FIG. 8. Further, the process of increasing the output of themotors 21 in the thruster 14 and the thruster 16 according to the fourthembodiment may be inserted between S305 and S306 and between S308 andS309 in the third embodiment shown in FIG. 9, and may be applied to anembodiment in which the second embodiment and the head free mode arecombined together.

Fifth Embodiment

A flying device according to a fifth embodiment is shown in FIG. 11.

A flying device 10 according to the fifth embodiment includes rotationmechanisms 50. The rotation mechanisms 50 are provided on arm portions12, and rotate thrusters 13 to 16 with respect to a base 11 aboutvirtual axes of the arm portions 12 connecting the base 11 and thethrusters 13 to 16. As a result, the thrusters 13 to 16 provided in thearm portion 12 are rotated with respect to the base 11 by the rotationmechanism 50. As a result, a direction of a propulsive force generatedby each of the thrusters 13 to 16 is changed in accordance with therotation of the thrusters 13 to 16.

An example of each of the rotation mechanisms 50 will be described withreference to FIGS. 12 to 14. In the case of an example shown in FIGS. 12to 14, each arm portion 12 is divided into a first arm portion 121 and asecond arm portion 122. The first arm portion 121 is connected to thebase 11. The second arm portion 122 is connected to the thrusters 13 to16. The rotation mechanism 50 is provided at a connection portionbetween the first arm portion 121 and the second arm portion 122.

The first arm portion 121 is formed with a cylindrical tip on thethrusters 13 to 16 side and the second arm portion 122 is insertedinward of the first arm portion 121. The first arm portion 121 has agroove 51 and an extrusion portion 52. The groove 51 penetrates throughthe cylindrical first arm portion 121 in a radial direction. The groove51 extends in a circumferential direction of the cylindrical first armportion 121. The second arm portion 122 is formed in a cylindrical shapeor a rod shape, and a tip of the second arm portion 122 on the base 11side is inserted into the first arm portion 121. The second arm portion122 has a protrusion portion 53 protruding in the radial direction froman outer wall of the second arm portion 122.

The protrusion portion 53 of the second arm portion 122 is inserted intothe groove 51 provided in the first arm portion 121. When the second armportion 122 is fixed to the first arm portion 121, the protrusionportion 53 of the second arm portion 122 is inserted into an opening 54of the groove 51. After pushing the second arm portion 122 from theopening 54 toward the base 11, the first arm portion 121 and the secondarm portion 122 are relatively rotated in the circumferential direction,so that the protrusion portion 53 of the second arm portion 122 movesupward in FIG. 12 along the groove 51.

The second arm portion 122 is further pushed toward the base 11, as aresult of which the protrusion portion 53 fits into a recess portion 55connected to the groove 51, as shown in FIG. 13. The recess portion 55is formed from the groove 51 toward the base 11 side. The first armportion 121 and the second arm portion 122 are fixed to each other bythe protrusion portion 53 fitting into the recess portion 55. In thismanner, when the protrusion portion 53 is positioned to fit into therecess portion 55, the propellers 23 of the thrusters 13 to 16 arepositioned above the thrusters 13 to 16 as shown in FIGS. 1 and 2. Thisstate is in a normal flight mode of the flying device 10.

On the other hand, when the thrusters 13 to 16 provided on the secondarm portions 122 are rotated about the axes of the arm portions 12, theorientation control unit 44 drives the extrusion portions 52. Each ofthe extrusion portions 52 has, for example, an electromagneticallyoperated actuator, and reciprocates in an axial direction of the armportion 12. The extrusion portion 52 is driven toward each of thethrusters 13 to 16 so that the extrusion portion 52 pushes theprotrusion portion 53 fitted in the recess portion 55 toward each of thethrusters 13 to 16.

As a result, the protrusion portions 53 fitted in the recess portion 55are pushed out toward the thrusters 13 to 16, and moves along the groove51 to a step portion 56. The step portion 56 extends in thecircumferential direction from the opening 54 in the groove 51 toward alower side in FIG. 13. When the protrusion portion 53 is pushed out intothe groove 51 by the extrusion portion 52, the second arm portion 122rotates about the axis of the arm portion 12 by the propulsive forcegenerated by the rotation of the propeller 23 of each of the thrusters13 to 16.

As a result, the protrusion portion 53 of the second arm portion 122fits into the step portion 56 connected to the groove 51 as shown inFIG. 14, and is fixed in a state in which a rotation angle is defined.The rotation mechanism 50 shown in FIGS. 12 to 14 is an example of acase in which two positions are switched from a normal state shown inFIG. 12 to a rotation state shown in FIG. 14. When the thrusters 13 to16 are rotated in multiple stages or in no stages with respect to thebase 11, a configuration of the rotation mechanism 50 is not limited tothe example shown in FIGS. 12 to 14. The rotation mechanism 50 may haveany configuration as long as the angles of the thrusters 13 to 16 withrespect to the base 11 can be changed about the axis of the arm portion12.

According to the fifth embodiment, there are provided the rotationmechanisms 50 for rotating the thrusters 13 to 16 with respect to thebase 11 about the axes of the arm portions 12. When an abnormalityoccurs in the thruster 13 shown in FIG. 11, the orientation control unit44 rotates the thruster 15 at a position symmetrical to the thruster 13in which the abnormality has occurred. In other words, the orientationcontrol unit 44 rotates the thruster 15 at the position symmetrical tothe thruster 13 across the base 11 with respect to the axis of the armportion 12.

As a result, the propulsive force generated by the thruster 15 changesfrom a yaw axis direction to an inclined direction. When the abnormalthruster 13 is stopped, a rotational force about the yaw axis isgenerated in the flying device 10 due to a difference in the rotationaldirection of the propellers 23 between the thrusters 14 and 16, and thethruster 15. Therefore, the orientation control unit 44 changes thedirection of the propulsive force generated by the thruster 15 bychanging an angle of the thruster 15 at a position symmetrical to thethruster 13 in which the abnormality has occurred with respect to thebase 11. As the thruster 15 rotates, the direction of the propulsiveforce generated by the thruster 15 is inclined with respect to the yawaxis.

For that reason, the propulsive force generated by the propeller 23 ofthe thruster 15 acts to cancel a force rotating about the yaw axisgenerated in the flying device 10 due to a sudden change in the flightorientation due to the stoppage of the thruster 13 and a difference inthe rotational direction of the propeller 23. At that time, theorientation control unit 44 finely adjusts the magnitude and directionof the propulsive force generated by the thruster 15 by changing thepitch of the propeller 23 in the thruster 15. As a result, the rotationof the flying device 10 about the yaw axis due to the stoppage of thethruster 13 is canceled by the propulsive force of the thruster 15inclined with respect to the base 11.

The orientation control unit 44 maintains a stable flight orientation ofthe base 11 by rotating the thruster 15 with respect to the axis of thearm portion 12 as described above. The orientation control unit 44controls the pitch of the propellers 23 and the output of the motors 21in the thruster 14, the thruster 15, and the thruster 16 to continue theflight in the stable orientation of the flying device 10.

According to the fifth embodiment, the rotation mechanisms 50 areprovided for rotating the thrusters 13 to 16 relative to the axes of thearm portions 12. As a result, when an abnormality occurs in the thruster13, the thruster 15 provided at a symmetrical position is rotated withrespect to the axis of the arm portion 12. As a result, the direction ofthe propulsive force generated by the thruster 15 is inclined from theyaw axis direction. As a result, in the flying device 10, a suddenchange in the flight orientation due to the stoppage of the thruster 13and the rotation of the propeller 23 in the yaw axis direction due tothe difference in the rotation direction are reduced. Therefore, even ifan abnormality occurs in the thruster 13, a stable flight orientationcan be maintained without stopping the other thruster 15.

Sixth Embodiment

FIG. 15 shows a flow of processing of a flying device according to asixth embodiment.

A configuration of the flying device according to the sixth embodimentis the same as that of the first embodiment shown in FIG. 1, similarlyto the second embodiment and the like.

When a flying device 10 is in flight, an abnormality detection unit 43detects whether or not thrusters 13 to 16 are abnormal (S501). When theabnormality of the thruster 13 is detected by the abnormality detectionunit 43 (YES in S501), an orientation control unit 44 stops a motor 21of the thruster 13, which is an abnormal thruster in which theabnormality is detected (S502). The orientation control unit 44 changesa pitch of a propeller 23 in the thruster 15, which is a symmetricalthruster located at a position symmetrical to the thruster 13, to 0°(S503).

As a result, the thruster 15, which is the symmetrical thruster, is at aneutral position in which no propulsive force is generated on either anascending side or a descending side. The orientation control unit 44increases the propulsive force of the thruster 14 and the thruster 16,which are the remaining thrusters (S504). In other words, theorientation control unit 44 sets the thruster 14 and the thruster 16 asthe remaining thrusters, excluding the thruster 13 which is the abnormalthruster and the thruster 15 which is the symmetrical thruster, from thethrusters 13 to 15. The orientation control unit 44 increases thepropulsive force of the thrusters 14 and 16, which are the remainingthrusters. At that time, the orientation control unit 44 sets thepropulsive force of the thruster 14 and the thruster 16 to, for example,twice the thrust force when no abnormality occurs in any of thethrusters 13 to 16.

As described above, when an abnormality occurs in any of the thrusters13 to 16, the orientation control unit 44 stops the thruster 13 in whichthe abnormality has occurred, and sets the thruster 15 at the positionsymmetrical to the thruster 13 to a neutral position. In order tocompensate for the lack of the thrust due to the stoppage of thethruster 13 and the neutral of the thruster 15, the orientation controlunit 44 increases the thrust of the thruster 14 and the thruster 16,which are the remaining thrusters.

In Step S505, when the thrust of the thruster 14 and the thruster 16 isincreased, the orientation control unit 44 performs landing of theflying device 10 while maintaining a flight orientation. In other words,the orientation control unit 44 stops the abnormal thruster 13 and setsthe thruster 15 at the symmetrical position to be neutral state, andthen lowers an altitude of the flying device 10 by the thrust of theremaining thruster 14 and thruster 16 to perform landing.

According to the sixth embodiment described above, the orientationcontrol unit 44 stops the thruster 13 in which the abnormality hasoccurred, and sets the pitch of the thruster 15 in the symmetricalposition to 0° at which no propulsive force is generated. Theorientation control unit 44 increases the thrust of the remainingthruster 14 and thruster 16, thereby supplementing the propulsive forcedue to the stoppage of the thruster 13 and the neutral of the thruster15, and maintaining the propulsive force necessary for continuation ofthe flight of the flying device 10. Therefore, the flight can becontinued while maintaining a stable orientation, and the movement andlanding of the flying device 10 to a safe area can be performed.

Seventh Embodiment

A flying device according to a seventh embodiment is shown in FIG. 16.

Thrusters 13 to 16 of a flying device 10 may be provided in the centersof arm portions 12 as shown in FIG. 16, instead of the tips of the armportions 12. In other words, the thrusters 13 to 16 are not limited tothe tips of the arm portions 12 as shown in FIG. 1 of the firstembodiment, and may be positioned closer to the base 11 than the tips ofthe arm portions 12 as shown in FIG. 16.

The present disclosure is not limited to the first embodiment, and inthe case of the fifth embodiment as well, the thrusters 13 to 16 may beprovided in the centers of the arm portions 12 as shown in FIG. 17.

Eighth Embodiment

A flying device according to an eighth embodiment is shown in FIG. 18.

A flying device 10 according to the eighth embodiment includes displayunits 61 on a base 11. Two or more display units 61 are provided in acircumferential direction around a yaw axis penetrating through the base11. In the case of the eighth embodiment shown in FIG. 18, four displayunits 61 are provided. The display units 61 are each provided by a lightsource that is visually recognized, such as an LED. The display units 61are provided on an outer wall of the base 11, and can be visuallyrecognized by an operator who remotely operates the flying device 10.

In the case of the flying device 10 including the multiple thrusters 13to 16 as in the embodiments described above, when an abnormality occursin any of the thrusters 13 to 16, the thruster 13 in which theabnormality has occurred is stopped. Along with the above configuration,the thruster 15 at a position symmetrical to the thruster 13 in whichthe abnormality has occurred is also stopped or the pitch of thepropeller 23 in the thruster 15 is changed under control.

As described above, when the thruster is stopped or the pitch of thepropeller 23 is changed due to the abnormality of the thrusters 13 to16, the flying device 10 may turn around a yaw axis due to the imbalanceof the propulsive force or torque of the thrusters 13 to 16. When theflying device 10 is turned in this manner, a traveling direction of theflying device 10 is not kept constant, thereby making it difficult forthe operator who performs a remote control to recognize the travelingdirection of the flying device 10.

Therefore, in the case of the eighth embodiment, when an abnormality isdetected in any of the thrusters 13 to 16 by the abnormality detectionunit 43, the control unit 40 sets a virtual traveling direction of theflying device 10. Specifically, the control unit 40 detects thetraveling direction of the flying device 10 according to theacceleration sensor 45, the angular velocity sensor 46, the geomagneticsensor 47, and the like. The control unit 40 sets the detected travelingdirection to a front side of the base 11 toward which the flying device10 flies, that is, a nose side. The control unit 40 turns on the displayunits 61 located on an opposite side of the set nose side among themultiple display units 61 provided on the base 11.

Generally, the operator of the flying device 10 is located behind theflying device 10. For that reason, the display unit 61 located on theopposite side to the nose side is lighted, to thereby cause the operatorto recognize a rear of the base 11 by the display unit 61 and torecognize the traveling direction of the flying device 10. As a result,the operator continues the remote operation of the flying device 10based on the display of the display unit 61.

According to the eighth embodiment, the flying device 10 includes thedisplay units 61. As a result, even if the flying device 10 is turnedwith the stoppage of the thrusters 13 to 16 or a change in thrust, theoperator can easily recognize the traveling direction of the flyingdevice 10. Therefore, the safe flight can be continued.

The display unit 61 according to the eighth embodiment can be applied tothe first to seventh embodiments described above.

Other Embodiments

The present disclosure described above is not limited to theabove-described embodiments, and can be applied to various embodimentswithout departing from the spirit of the present disclosure.

In the multiple embodiments described above, an example in which thepitch of the propellers 23 and the output of the motors 21 in thethrusters 13 to 16 are changed has been described. However, thepropellers 23 and the motors 21 of the thrusters 13 to 16 may beconfigured to controlled for not only the pitch and the output but alsorotation direction.

Although the present disclosure has been described in accordance withthe examples, it is understood that the present disclosure is notlimited to such examples or structures. The present disclosureencompasses various modifications and variations within the scope ofequivalents. In addition, various combinations and configurations, aswell as other combinations and configurations that include only oneelement, more, or less, are within the scope and spirit of the presentdisclosure.

The invention claimed is:
 1. A flying device, comprising: a base; a plurality of thrusters provided on the base each including a propeller, a motor which drives the propeller, and a pitch change mechanism unit which changes a pitch of the propeller; an orientation detection unit that detects an orientation of the base; an abnormality detection unit that detects an abnormality in at least one of the thrusters; and an orientation control unit that, when the abnormality detection unit detects the abnormality, changes the pitches of the propellers in the remaining thrusters to maintain an orientation of the base detected by the orientation detection unit, wherein the thrusters are provided on respective arm portions that extend radially from the base, an abnormal thruster is defined as a thruster among the plurality of thrusters in which an abnormality has occurred, and the orientation control unit is configured to change the pitch of the propeller of a symmetrical thruster provided at a position symmetrical to the abnormal thruster or substantially symmetrical to the abnormal thruster across the base.
 2. The flying device according to claim 1, wherein the orientation control unit is configured to change the output of the motor of the symmetrical thruster in addition to the pitch of the propeller of the symmetrical thruster.
 3. The flying device according to claim 2, wherein the orientation control unit is configured to control a thrust of the symmetrical thruster to be Nh/Nl times, Nh being the number of thrusters with their propeller rotating in an opposite direction to a rotation direction of the propeller in the abnormal thruster, and Nl being the number of thrusters with their propeller rotating in the same direction as the rotation direction of the propeller in the abnormal thruster.
 4. The flying device according to claim 2, wherein the orientation control unit is configured to increase the output of the motor in the remaining thrusters aside from the abnormal thruster and the symmetrical thruster.
 5. The flying device according to claim 1, further comprising: a rotation mechanism, wherein the thrusters are provided on respective arm portions extending radially from the base, the rotation mechanism is provided on the arm portions, the rotation mechanism being configured to rotate the thrusters with respect to the base about a virtual axis connecting the base and the thrusters, and when an abnormal thruster is defined as a thruster among the plurality of thrusters in which an abnormality has occurred, the orientation control unit is configured to rotate a symmetrical thruster provided at a position symmetrical to or substantially symmetrical to the abnormal thruster across the base by the rotation mechanism.
 6. The flying device according to claim 1, wherein the thrusters are provided on respective arm portions extending radially from the base, and when an abnormal thruster is defined as a thruster among the plurality of thrusters in which an abnormality has occurred, the orientation control unit is configured to set the pitch of the propeller in a symmetrical thruster provided at a position symmetrical to or substantially symmetrical to the abnormal thruster across the base to be 0°, and is configured to control a thrust of the remaining thrusters aside from the abnormal thruster and the symmetrical thruster to compensate for the thrust generated by the abnormal thruster and the symmetrical thruster.
 7. The flying device according to claim 1, further comprising: a plurality of display units provided in a circumferential direction of the base that visually display a traveling direction of the base when an abnormality is detected in any one of the thrusters.
 8. A flying device, comprising: a base; a plurality of thrusters provided on the base each including a propeller, a motor which drives the propeller, and a pitch change mechanism unit which changes a pitch of the propeller; a sensor fixed to the base configured to detect an orientation of the base; and a processor coupled to the plurality of thrusters, the processor programmed to: monitor an operation of the plurality of thrusters to detect an abnormality in at least one of the thrusters, and upon detecting the abnormality, control the plurality of thrusters to change the pitches of the propellers in the remaining thrusters to maintain an orientation of the base detected by the sensor, wherein the thrusters are provided on respective arm portions that extend radially from the base, an abnormal thruster is defined as a thruster among the plurality of thrusters in which an abnormality has occurred, and the processor is configured to change the pitch of the propeller of a symmetrical thruster provided at a position symmetrical to the abnormal thruster or substantially symmetrical to the abnormal thruster across the base.
 9. The flying device according to claim 1, wherein the orientation control unit is configured to change the pitch of the propeller of the symmetrical thruster such that a propulsive force of the propeller of the symmetrical thruster in an ascending direction decreases when the flying device is ascending or hovering, and the orientation control unit is configured to change the pitch of the propeller of the symmetrical thruster such that the propulsive force of the propeller of the symmetrical thruster in the ascending direction increases when the flying device is descending.
 10. The flying device according to claim 8, wherein the processor is configured to change the pitch of the propeller of the symmetrical thruster such that a propulsive force of the propeller of the symmetrical thruster in an ascending direction decreases when the flying device is ascending or hovering, and the processor is configured to change the pitch of the propeller of the symmetrical thruster such that the propulsive force of the propeller of the symmetrical thruster in the ascending direction increases when the flying device is descending. 